• ETRI Journal
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• v.45 no.5
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• Journal of Broadcast Engineering
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• v.28 no.1
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• pp.79-89
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• 2023

A multi-view display is regarded as the most practical technology to provide a three-dimensional effect to a viewer because it can provide an appropriate viewpoint according to the observer's position. But, most multi-view displays with flat shapes have a disadvantage in that a viewer watches 3D images only within a limited front viewing angle. In this paper, we proposed a spherical display using a ball lens with spherical symmetry that provides perfect parallax by extending the viewing zone to 360 degrees. In the proposed system, each projection lens is designed to be packaged into a small modular array, and the module array is arranged in a spherical shape around a ball lens to provide vertical and horizontal parallax. Through the applied optical module, the image is formed in the center of the ball lens, and 3D contents are clearly imaged with the size of about 0.65 times the diameter of the ball lens when the viewer watches them within the viewing window. Therefore, the feasibility of a 360-degree full parallax display that overcomes the spherical aberration of a ball lens and provides a wide field of view is confirmed experimentally.

• Journal of the Microelectronics and Packaging Society
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• v.7 no.1
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• pp.13-18
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• 2000

Low temperature co-fired ceramics on metal (LTCC-M) is efficient for embedding passive components with good tolerance in a module due to the dimensional stability in x and y directions by the constraint of metal core during the firing. In addition, the radiation noise can be reduced by metal core. In this paper, embedded passive components were introduced and a power amplifier module (PAM) fabricated by using the passive components was explained. The embedded passive components in test patters showed the tolerance of 10~20% and the good repeatability in tolerance of embedded passives was maintained in module fabrication. The shortened traces in multi chip modules (MCMs) make the signal delay time decreased and the embedded passives simplify the packaging processes owing to the less solder points, which enhance the electrical performance and increase the reliability of the modules. The LTCC-M technology is one of the promising candidates for RF application and is expected to expand its applications to power and high performance devices.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.8 no.4
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• pp.274-286
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• 1996

Two-dimensional flexible body analysis (hydroelasticity theory) is adopted to a very large floating structure that may be multimodule and extend in the longitudinal direction. The boundary-element method (BEM) and Green function method(GFM) are used to obtain the hydrodynamic coefficients. The structure is considered to be a flexible beam responding to waves in the vertical direction and a consistent formulation for the hydrostatic stiffness is derived. The resulting coupled equations of motion are solved directly. Two designs of the module connectors are considered: a rotationally-flexible hinge connector, and a rotationally-rigid connector Numerical examples are presented to an integrated system of semi-submersibles. The analysis provides basic motions and section forces, which are useful to develop an understanding of the fundamental modes of displacement and force amplitudes for which multi-module VLFSs must be designed. The results show that while the hinge connectors result in greater motion, the rigid connectors increase substantially the sectional moments.

• Journal of Mechanical Science and Technology
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• v.20 no.11
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• pp.1993-2001
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• 2006

The piezoelectric bimorph film, which, as an actuator, can generate more effective displacement than the usual PVDF film, is used to control the turbulent boundary-layer flow. The change of wall pressures inside the turbulent boundary layer is observed by using the multi-channel microphone array flush-mounted on the surface when actuation at the non-dimensional frequency $f_b^+$:=0.008 and 0.028 is applied to the turbulent boundary layer. The wall pressure characteristics by the actuation to produce local displacement are more dominantly influenced by the size of the actuator module than the actuation frequency. The movement of large-scale turbulent structures to the upper layer is found to be the main mechanism of the reduction in the wall- pressure energy spectrum when the 700$700{\nu}/u_{\tau}$-long bimorph film is periodically actuated at the non- dimensional frequency $f_b^+$:=0.008 and 0.028. The biomorph actuator is triggered with the time delay for the active forcing at a single frequency when a 1/8' pressure-type, pin-holed microphone sensor detects the large-amplitude pressure event by the turbulent spot. The wall-pressure energy in the late-transitional boundary layer is partially reduced near the convection wavenumber by the open-loop control based on the large amplitude event.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.7
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• pp.1288-1293
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• 2007

In this paper, a compact triplexer has been implemented for Cellular/GPS/USPCS applications. In order to realize the proposed triplexer, we use a low-temperature co-fired ceramic (LTCC) substrate to enable a fully compact integrated module using a multi-layer high-density architecture, and conjugate-match the channels instead of the open matching technique. The three dimensional design capability of LTCC substrates can reduce the overall size of the triplexer, resulting in dimensions on the order of $3.2\;mm\;{\times}\;2.5\;mm\;{\times}\;1\;mm$. The measured result shows that the triplexer has, in Cellular/GPS/USPCS bands, the insertion loss of less than 0.5dB, less than 1.7dB, and less than 0.9dB in order. Also, the triplexer has an isolation of more than 15dB in the cellular and USPCS bands and an isolation of more than 20dB in the GPS band.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.5
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• pp.179-186
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• 2021

For stereo matching based on deep learning, the design of network structure is crucial to the calculation of matching cost, and the time-consuming problem of convolutional neural network in image processing also needs to be solved urgently. In this paper, a method of stereo matching using sparse loss volume in parallax dimension is proposed. A sparse 3D loss volume is constructed by using a wide step length translation of the right view feature map, which reduces the video memory and computing resources required by the 3D convolution module by several times. In order to improve the accuracy of the algorithm, the nonlinear up-sampling of the matching loss in the parallax dimension is carried out by using the method of multi-category output, and the training model is combined with two kinds of loss functions. Compared with the benchmark algorithm, the proposed algorithm not only improves the accuracy but also shortens the running time by about 30%.

• Journal of KIISE:Software and Applications
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• v.34 no.7
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• pp.585-594
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• 2007

The back propagation algorithm took a long time to learn the input patterns and was difficult to train the additional or repeated learning patterns. So Aleksander proposed the binary neural network which could overcome the disadvantages of BP Network. But it had the limitation of repeated learning and was impossible to extract a generalized pattern. In this paper, we proposed a dynamic 3 dimensional Neuro System which was consisted of a learning network which was based on weightless neural network and a feedback module which could accumulate the characteristic. The proposed system was enable to train additional and repeated patterns. Also it could be produced a generalized pattern by putting a proper threshold into each learning-net's discriminator which was resulted from learning procedures. And then we reused the generalized pattern to elevate the recognition rate. In the last processing step to decide right category, we used maximum response detector. We experimented using the MNIST database of NIST and got 99.3% of right recognition rate for training data.

• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• The KSFM Journal of Fluid Machinery
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• v.1 no.1 s.1
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• pp.7-16
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• 1998

An interactive mode of grid generation system has been developed for a Navier-Stokes design procedure of axial flow compressors. The present grid generator adopts the multiblock H-grid structure, which simplifies the creation of computational grids about complex turbomachinery geometries and facilitate the manipulation of multiple grid blocks for multirow flow fields. The numerical algorithm adopts the combination of the algebraic and elliptic method to create the internal grids efficiently and quickly. The system consists of four separated modules, which are linked together with a common graphical user interface. The system input is made of the results of the preliminary design. The final grids generated from each module of the system are used as the preprocessor for the performance prediction of the two-or three-dimensional flow simulation inside the blade passage. Application to the blade design of the LP compressor was demonstrated to be very reliable and practical in support of design activities. This customized system are coupled strongly with the design procedure of the turbomachinery cascades using the Navier-Stokes technique.